def get_image(self,
idx: int,
camera: str,
log_id: Optional[str] = None,
load: bool = True) -> Union[str, np.ndarray]:
"""get image or image path at a specific index (in image index)
Args:
idx: image based 0-index
camera: camera based on camera_stats.CAMERA_LIST
log_id: log_id, if not specified will use self.current_log
load: whether to return image array (True) or image path (False)
Returns:
np.array: list of image path (str or np.array)),
"""
assert self.image_timestamp_list is not None
assert self._image_timestamp_list is not None
assert self.image_list is not None
assert self._image_list is not None
if log_id is None:
log_id = self.current_log
assert idx < len(self._image_timestamp_list[log_id][camera])
image_path = self._image_list[log_id][camera][idx]
if load:
return load_image(image_path)
return image_path
def get_image_at_timestamp(
self,
timestamp: int,
camera: str,
log_id: Optional[str] = None,
load: bool = True) -> Optional[Union[str, np.ndarray]]:
"""get image or image path at a specific timestamp
Args:
timestamp: timestamp
camera: camera based on camera_stats.CAMERA_LIST
log_id: log_id, if not specified will use self.current_log
load: whether to return image array (True) or image path (False)
Returns:
np.array: list of image path (str or np.array)),
"""
assert self.timestamp_image_dict is not None
assert self._timestamp_image_dict is not None
if log_id is None:
log_id = self.current_log
assert self.timestamp_image_dict is not None
try:
image_path = self._timestamp_image_dict[log_id][camera][timestamp]
except KeyError:
logging.error(
f"Cannot find {camera} image at timestamp {timestamp} in log {log_id}"
)
return None
if load:
return load_image(image_path)
return image_path
